Force–Position Control for Fast Tube Insertion

Insertion is one of the commonly used surgical procedures in the surgery. For example, in otolaryngology, the tympanostomy tube insertion is the frequently performed otologic surgical procedure to treat the otitis media with effusion (OME), a common ear disease affecting children and adults all over the world. An office-based surgical device for this surgical treatment of OME is developed to overcome the disadvantages of the current way of inserting the tube. Furthermore, a control scheme with a new insertion method utilizing the concept of force feedback is proposed, implemented, and tested in a mock-up system in this chapter.